Design, modeling and disturbance rejection control of a bio-inspired coaxial helicopter MAV in Atmospheric Boundary Layer

Niu, Sanku; Li, Jie; Shen, Yantao

doi:10.1109/robio.2015.7418946

Cited by 2 publications

(1 citation statement)

References 17 publications

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“…In addition, with the reduction of the radial size of the aircraft along the rotor, the inertia of the aircraft decreases and its controllability and maneuverability are enhanced. The design without the tail rotor has also eliminated some hidden problems [4]. Research on coaxial-rotor helicopters has already had significant achievements, but the small coaxial-rotor UAV has received special attention in recent years.…”

Section: Introductionmentioning

confidence: 99%

Longitudinal Attitude Control Decoupling Algorithm Based on the Fuzzy Sliding Mode of a Coaxial-Rotor UAV

Wei

Wang

et al. 2019

Electronics

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A longitudinal attitude decoupling algorithm based on the fuzzy sliding mode control for a small coaxial rotor unmanned aerial vehicle (UAV) is presented in this paper. The attitude system of a small coaxial rotor UAV is characterized by nonlinearity, strong coupling and uncertainty, which causes difficulties pertaining to its flight control. According to its six-degree-of-freedom model and structural characteristics, the dynamic model was established, and a longitudinal attitude decoupling algorithm was proposed. A fuzzy sliding mode control was used to design the controller to adapt to the underactuated system. Compared with the uncoupled fuzzy sliding mode control, simulation results indicated that the proposed method could improve the stability of the system, presented with a better adapting ability, and could effectively suppress the modeling error and external interference of the coaxial rotor aircraft attitude system. The proposed method also has the advantages of high accuracy, good stability, and the ease of implementation.

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Section: Introductionmentioning

confidence: 99%